基于固定时间一致性的无人机集群构型变换

UAV swarm formation reconfiguration based on fixed-time consensus

针对无人机集群需要在指定时间内完成构型变换的情况,研究了具有一阶积分特性的无人机集群构型变换固定时间一致性控制问题。基于一致性方法设计了编队控制协议,引入编队参考向量,并通过构造Lyapunov函数,证明了在通信拓扑连通条件下无人机集群系统能够实现固定时间一致性并完成期望构型变换。以四旋翼无人机为基础搭建实验验证系统,并进行二维飞行验证,实验结果证明了本文所提方法的有效性。

Formation reconfiguration control in specified time of unmanned aerial vehicle（UAV）swarm systems is investigated.The UAV is modelled by a first-order integrator system.Based on the consensus method,the fixed-time consensus control protocols are proposed.The formation reference vector is introduced and by designing the continuous Lyapunov function,it is proven that the UAV swarm can achieve fixed-time consensus and formation reconfiguration with fixed connected interaction topologies.A quadrotor formation experimental system is set up.Flight test of a swarm system consisting of four UAVs moving in two dimensional plane is conducted.And the results prove the effectiveness of the proposed method.